Mitsubishi HD-5000A Instruction Manual download pdf (Page 153)

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5. PARAMETERS

Class No. Symbol Name and Function

Initial

value

Unit

Setting

range

24 FFC Feed forward gain

Set the feed forward gain. When the setting is 100%, the droop pulses during

operation at constant speed are nearly zero. However, sudden

acceleration/deceleration will increase the overshoot. As a guideline, when the

feed forward gain setting is 100%, set 1s or more as the

acceleration/deceleration time constant up to the rated speed.

0 % 0 to 100

25 VCO Override offset

Used to set the offset voltage to analog override.

0 mV 999 to

999

26 TLO Torque limit offset

Used to set the offset voltage to analog torque limit (TLA).

0 mV 999 to

999

27 *ENR

Encoder output pulses

Used to set the encoder pulses (A-phase, B-phase) output by the servo

amplifier.

Set the value 4 times greater than the A-phase or B-phase pulses.

You can use parameter No. 58 to choose the output pulse designation or

output division ratio setting.

The number of A/B-phase pulses actually output is 1/4 times greater than the

preset number of pulses.

The maximum output frequency is 1.3Mpps (after multiplication by 4). Use

this parameter within this range.

For output pulse designation

Set " 0

" (initial value) in parameter No. 58.

Set the number of pulses per servo motor revolution.

Output pulse

set value [pulses/rev]

At the setting of 5600, for example, the actually output A/B-phase pulses are

as indicated below.

5600

A B-phase output pulses 1400[pulse]

For output division ratio setting

Set " 1

" in parameter No. 58.

The number of pulses per servo motor revolution is divided by the set value.

Output pulse

[pulses/rev]

Resolution per servo motor revolution

Set value

At the setting of 8, for example, the actually output A/B-phase pulses are as

indicated below.

B-phase output pulses 4096[pulse]

131072

4000 pulse/

rev

65535

28 TL1 Internal torque limit 1

Used to limit servo motor-torque on the assumption that the maximum torque

is 100%. When 0 is set, torque is not produced.

100 % 0 to 100

29 TL2 Internal torque limit 2

Used to limit servo motor-torque on the assumption that the maximum torque

is 100%. When 0 is set, torque is not produced.

Made valid by switching on the internal torque limit selection (TL2).

100 % 0 to 100

Expansion parameters 1

30 *BKC Backlash compensation

Used to set the backlash compensation made when the command direction is

reversed.

This function compensates for the number of backlash pulses in the opposite

direction to the home position return direction. In the absolute position

detection system, this function compensates for the backlash pulse count in

the direction opposite to the operating direction at power-on.

Note. The setting range differs depending on the software version of servo

amplifiers.

Version A1 or later: 0 to 1600

Version A0 or before: 0 to 1000

0 pulse (Note)

1600

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Mitsubishi HD-5000A Instruction Manual Page 153

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